/*
 * @Author: xiaoxiaotaoya 1712331226@qq.com
 * @Date: 2024-12-22 17:58:38
 * @LastEditors: xiaoxiaotaoya 1712331226@qq.com
 * @LastEditTime: 2024-12-22 18:01:09
 * @FilePath: /trobot_ws/src/controller_modules/mc_path_planner/include/mc_path_planner/complete_coverage_path/sprial_path.h
 * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
 */
#ifndef __SPRIAL_PATH_PLANNER_H__
#define __SPRIAL_PATH_PLANNER_H__

#include <mc_path_planner/complete_coverage_path/ccpp_base.h>

namespace ccpp{

class SprialPathPlanner : public CoveragePlannerBase{
    public:
        SprialPathPlanner(boost::shared_ptr<MapBase> map_handler_ptr, boost::shared_ptr<SmoothBase> smooth_ptr);
        ~SprialPathPlanner();

        // 螺旋路径生成
        bool genSprialPathWithPolygon(geometry_msgs::Point start, vector<geometry_msgs::Point> polygon, 
            CoveragePath& path);
    
    private:
        
};

};

#endif